/********************************************************************************
 * Copyright 2009 The Robotics Group, The Maersk Mc-Kinney Moller Institute,
 * Faculty of Engineering, University of Southern Denmark
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 ********************************************************************************/

#ifndef RWSIM_DRAWABLE_SIMULATORDEBUGRENDER_HPP_
#define RWSIM_DRAWABLE_SIMULATORDEBUGRENDER_HPP_

#include <rw/core/Ptr.hpp>
#include <rw/graphics/Render.hpp>

namespace rwsim { namespace drawable {

    //! @brief Render for debugging dynamic simulators.
    class SimulatorDebugRender : public rw::graphics::Render
    {
      public:
        //! @brief Smart pointer type for SimulatorDebugRender.
        typedef rw::core::Ptr< SimulatorDebugRender > Ptr;

        // virtual ~SimulatorDebugRender(){};

        //! @brief Draw mask for drawing nothing.
        static const unsigned int DRAW_NOTHING = 0;
        //! @brief Draw mask for drawing contact normals.
        static const unsigned int DRAW_CONTACT_NORMAL = 1;
        //! @brief Draw mask for drawing contact friction cones.
        static const unsigned int DRAW_FRICTION_CONE = 2;
        //! @brief Draw mask for drawing body forces.
        static const unsigned int DRAW_BODY_FORCES = 4;
        //! @brief Draw mask for drawing collision geometries.
        static const unsigned int DRAW_COLLISION_GEOMETRY = 8;

        // virtual void draw(DrawType type, double alpha) = 0;

        /**
         * @brief Set the draw mask.
         * @param mask [in] the draw mask.
         */
        virtual void setDrawMask (unsigned int mask) = 0;

      protected:
        //! @brief Constructor.
        SimulatorDebugRender () {}
    };

}}     // namespace rwsim::drawable
#endif /*RENDERSIMDEBUG_HPP_*/
